Sandwiched type piezoelectric manipulator based on spherical joint and control method of manipulator
A technology of spherical joints and manipulators, applied in the field of manipulators, can solve the problems of small mass, volume, power density, difficult miniaturization design, unfavorable miniaturization, etc., and achieve the effect of simple and compact structure, smart functions, and easy miniaturization
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[0035] Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail:
[0036] Such as figure 1 As shown, the present invention discloses a sandwich-type piezoelectric manipulator based on spherical joints, including a palm platform 1 and at least two fingers 2 .
[0037] Such as figure 2 As shown, each finger is composed of a first joint 3, a first phalanx 4, a second joint 5 and a terminal phalanx 6; the first joint 3 of each finger is connected to the palm platform 1 by bolts.
[0038] Such as image 3 As shown, the first joint 3 and the second joint 5 are composed of a first ring vibrator 8, a second ring vibrator 12, a support frame 10, and several bolts, elastic washers, and nuts. The first ring vibrator, the second The ring vibrator is installed in the stepped groove, and the bolt passes through the positioning hole of the counterweight of the first ring vibrator, the elastic washer, and the support frame, a...
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